CN109613915A - Power tool anti-collision system for underground object - Google Patents

Abstract

Electronic controller includes: memory comprising the computer executable instructions for detection object；And processor, it is coupled to memory and is configured to execute the computer executable instructions, which makes the processor when executed by this processor: sensing indicates the existing signal of underground object and sends control signal to control system of machine or power tool control system to change the movement of machine or power tool.

Description

Power tool anti-collision system for underground object

Technical field

The present invention relates to the milling machines such as the machines such as muck haulage, mining, cold milling and planing machine, construction machine and use operation Tool manipulates the similar machines of the materials such as soil, pitch, concrete.More particularly it relates to use operation work Has this machine of anti-collision system, which helps machine to make before power tool is contacted with underground object The mobile stopping of power tool or machine or the movement for changing power tool or machine.

Background technique

Machine commonly used in mobile or manipulation material muck haulage, building, dig up mine and industry of paving the way.Specifically, it is paving the way In industry, the milling machines such as cold milling and planing machine are used.Therefore these machines for numerous purposes, and use many different operations Tool.In many cases, these machines are manipulated or are done using power tools such as rotary cutting tool, scraper bowl, rakes Disturb soil, pitch, rock, concrete etc..It is envisioned that the possible occasional of these tools is contacted with underground object, such as may Large-scale rock that power tool can be damaged, to need repairing or the homework department of replacement operation tool or power tool Point, tooth, tool, tool apron or toothholder, blade etc..Alternatively, in some cases, the undergrounds such as cable, electric wire, pipeline object Body may damage sensitivity caused by power tool.This may need to repair when these underground objects are impaired.Any In a kind of situation, damage may all stop operation in the region being damaged, and be carrying out so as to cause the region specific The loss time of economic activity and profit.

For example, the rotations such as cutting-cylinder tool usually by the milling machines such as cold milling and planing machine for tear such as soil, The operation surfaces such as unconsolidated rock, pitch, road surface, concrete.It is envisioned that these rotation tools can be used and be adapted for carrying out necessity The drill bit of operation.These drill bits are easy to wear.Consequently, it is frequently necessary to replace these drill bits upon wear.Instead, it is possible to wish to take Certainly in work materials and by a type of bit change-over be another type of drill bit.For example, a drill bit can be well Suitable for tearing concrete, and another drill bit can be more suitable for tearing pitch.

Thus it is desirable to prevent this damage to underground object or to these underground objects can be contacted before damage occurs The damage of the power tool of body.

Summary of the invention

A kind of method for avoiding object for embodiment according to the present invention is provided, this method comprises: using machine Sensor transmit signal, which is located in front of the power tool of machine and along the traveling of power tool or machine Direction, which advances on the ground along path, and power tool is moving, which is directed toward ground；In response to The monitoring signal using the signal of sensor transmissions, receiver of the signal using sensor or from sensor and monitor；Place One or more signals are managed to detect the object along path；The distance between object and power tool and threshold value are compared Compared with；And based on by the distance and threshold value be compared to change the movement of power tool or based on by the distance and threshold value into Row relatively changes at least one of on the move of machine.

A kind of power tool anti-collision system for the machine with power tool of embodiment according to the present invention includes Sensor, receiver and the electronic controller unit for being coupled to sensor and receiver.Electronic controller unit is configured to make Sensor transmits signal with first time interval, handles by receiver with the second time interval received signal, and handling By the movement for changing power tool or machine after receiver received signal.

Provide a kind of electronic controller unit of embodiment according to the present invention.Electronic controller unit may include: Memory comprising for detecting the computer executable instructions of underground object；And processor, be coupled to memory and It is configured to execute the computer executable instructions, which makes the processor when executed by this processor: Sensing indicates the existing signal of underground object and sends control signal to control system of machine or power tool control system To change the movement of machine or power tool.

Detailed description of the invention

Be incorporated in the present specification and constitute part thereof of Detailed description of the invention several embodiments of the invention, and with say Bright book principle for explaining the present invention together.In the accompanying drawings:

Fig. 1 is such as cold plane for utilizing the power tool anti-collision system for underground object of embodiment according to the present invention The perspective view of the machines such as machine.

Fig. 2 is the side view of the machine of Fig. 1.

Fig. 3 is the perspective view of the power tool of the rotary cutting assembly form used by the machine of Fig. 1.

Fig. 4 includes the schematic block diagram of the power tool anti-collision system of the machine of Fig. 1 of embodiment according to the present invention.

Fig. 5 includes the schematic block diagram for the sensor array that can be used by the power tool anti-collision system of Fig. 4.

Fig. 6 is the flow chart for describing the method implemented by the power tool anti-collision system of Fig. 4.

Fig. 7 include explanation can how the schematic block of the electronic controller unit of the power tool anti-collision system of configuration diagram 4 Figure.

Fig. 8 includes how drawing processing device executes the one group of computer that can be used by the power tool anti-collision system of Fig. 4 The schematic block diagram of executable instruction.

Fig. 9 to Figure 15 is the screenshot capture for the GUI that can be provided by the power tool anti-collision system of Fig. 4, and it illustrates GUI The various functions of (graphic user interface) and system.

Specific embodiment

Now with detailed reference to the embodiment of the present invention, example illustrates in the accompanying drawings.Whenever possible, in entire attached drawing In the same or similar part will be referred to using identical appended drawing reference.In some cases, appended drawing reference will be in this explanation It is pointed out in book, and attached drawing will show the appended drawing reference (such as 100a, 100b) below with letter or the attached drawing below with slash It marks (such as 100', 100' etc.).It should be appreciated that following appended drawing reference closely using letter or skimming these features of instruction with similar shape Shape and have the function of that the case where with geometry symmetrical plane mirror image is similar.For the ease of solving in the present specification It releases, letter and slash are typically not included in herein, but can be shown in the accompanying drawings to indicate to discuss in this printed instructions The feature with function similar or identical or geometry repetition.

In various embodiments, can provide and one kind will now be described can be by being used for object (for example, underground object Or ground object) power tool anti-collision system implement method, power tool anti-collision system itself and one kind be configured to reality The electronic controller unit applying this method or being used together with the power tool anti-collision system.

Fig. 1 and 2 illustrates that there is cooperation to complete such multiple systems of task and the example machine 100 of component.Machine Device 100 can more generally implement to execute with mining, building, farming or agricultural, transport, muck haulage, pave the way etc. it is industrial related The mobile machine of a type of operation of connection.As just mentioned, machine 100 can be milling machine, such as cold milling and planing machine.Machine 100 may include power supply 102 and the one or more underframe assemblies 104 that can be driven by power supply 102.

Power supply 102 can drive the underframe assemblies 104 of machine 100 under a certain range of output speed and torque.Power supply 102 can be engine, such as diesel engine, petrol engine, gaseous fuel-powered engine or any other conjunction Suitable engine.Power supply 102 is also possible to non-burning power supply, such as fuel cell, electric power storing device etc..

Underframe assemblies 104 may include crawler belt 106.Underframe assemblies 104 can be attached to machine 100 via hydraulic cylinder 108, The hydraulic cylinder can be raised and lowered or rotate so that machine 100 to be vertically or horizontally located in the expectation relative to operation surface Position.Other types of chassis can be used, using chassis such as wheel, running mechanisms.

Tool assembly 110 including rotating cutting drum component 112 (in Fig. 3 best seen from) is illustrated as being attached to Fig. 1 With 2 in machine 100 bottom and from the bottom extend, which is hovered above ground 158 desired Distance (it is as used herein, " ground " be understood to include road surface, concrete, soil, soil, rock and/or it is any its The operation surface of its type).Tool assembly 110 include two hydraulic side plates 114 (one of them is only shown in Fig. 1 and Fig. 2, but It is it should be appreciated that similar side plate is located on the opposite side of machine), which has for monitoring and position rotating cutting The position sensor (not shown) of drum assembly 112 (as shown in Figure 3).Cover board (Fig. 1 or the Fig. 2 extended between side plate 114 In be not shown) commonly used in partially around rotating cutting drum component 112, positioned at the above and behind of cutting-cylinder.Speed change Device (being not shown in Fig. 1 and Fig. 2) is operatively connected to power supply 102 and rotating cutting drum component 112, to allow power supply 102 driving rotating cutting drum components 112 rotate and tear ground (or manipulating or handle ground in other ways).

As shown in Figures 1 and 2, tool assembly 110 is equipped with hydraulic hose 116 to supply water, and water is injected into rotation Turn on cutting-cylinder component 112, to help to remove clast from rotating cutting drum component 112 in use.The clast Folding conveyer system 118 is transferred to by machine 100, by transport of materials to another trolley or place is dumped, at that In drag obsolete material away from operating area.

Operator's driver's cabin (or driver's cabin) 120 is also shown, seat 122 and control piece 124 are accommodated, which supplies Operator is used to control the various functions of machine 100.The configuration of the machine and tool assembly 110 can according to need or it is expected And change.The machine of Fig. 1 and 2 only by way of example because other types of machine is considered as in the scope of the present invention It is interior.

Observation Fig. 3 now, rotating cutting drum component 112 include generally cylindrical roller component 126, limit rotation Shaft axis A and axial width W, plurality of cutting tool component 128 is in a manner known in the art around roller component 126 Circumference is attached to the roller component.For example, cutting tool component 128 can have block or pedestal 130, it is soldered or with other Mode adheres to or is fastened to roller component 126.It is contemplated that pedestal 130 can be integrally formed with roller component 126, have with The structure of 126 one of roller component.A series of bolts hole 132 are shown on the wheel hub 134 of roller component 126, be used for by Cutting-cylinder component 126 is attached to tool assembly 110.Cutting tool component 128 is illustrated as along the circle for surrounding roller component 126 Week spiral or spiral path is attached to cutting-cylinder component 126, wherein the cutter head 136 of each cutting tool component 128 To extend with adjacent cutting tool assembly 128' along the slightly different angle of attack of convoluted path.It is contemplated that each cutting tool Arrangement, configuration and the angle of attack of component can according to need or it is expected and change.Cutting tool component 128 includes usually such as preceding institute State and be attached to the pedestal 130 of roller component 126, pedestal 130 can be attached to and from the pedestal dismantle tool adapter 138, And the cutter head 136 that tool adapter 138 can be attached to and dismantled from the tool adapter.

The axial width W of rotating cutting drum component 112 can depend on application and change, and depending on applying can be with It is about 18 inches to 88 inches.Therefore, as will be further described later herein, for detecting the sensing of underground object The quantity and configuration of device can one or more sizes based on rotating cutting drum component 112 and as needed or expectation become Change.For example, sensor can be positioned relative to each other, allow in the axial width W along rotating cutting drum component 112 Sensor between provide appropriate amount sensitivity, accuracy and/or resolution ratio so that any object (underground and/or ground) It can be effectively detected.Similarly, sensor can be positioned relative to the axial end of roller, so that rotating cutting drum The axial end of component 126 can avoid contact with object.For example, can be by the distance of adjacent drill bit 128 from a drill bit 128 It is limited away from P.When spiraling or spiral pattern is used for around the circumference drill bit 128 of roller component 126, spacing P is one complete The height of whole helical turns, the spacing are parallel to the axis A measurement of spiral.In some embodiments, by description from one The distance of a sensor to next sensor can be the function of spacing P, so that each drill bit is detected by the sensors object Ability suitably protect.

In use, rotating cutting drum component 112 is crushed the ground such as rock, soil, road surface, concrete, pitch. In some cases, object there may be and may be damaged by rotating cutting drum component 112 or may damage rotary cutting Drum assembly 112 is cut, to need to safeguard.For example, it may be desirable to replace or setting tool adapter 138, cutter head 136 and/or Pedestal 130 etc..It is, therefore, possible to provide the power tool anti-collision system 200 that will now be described.

Fig. 1 and 2 illustrates the power tool anti-collision system 200 of embodiment according to the present invention used on machine 100. The equipment includes machine 100 and power tool 140 in exemplary work environment.It should be understood that power tool anti-collision system 200 It may include multiple machines and multiple power tools and machine 100.Therefore, the power tool 140 illustrated in Fig. 1 to 3 is only As an example, not a limit.In addition, power tool anti-collision system 200 may include additional component comprising but be not limited to and machine Base station that device 100 is communicated, the satellite system communicated with machine 100, unmanned flying of being communicated with machine 100 Row device etc., to help to identify and/or monitor the movement of power tool 140 and machine 100 relative to underground object 142.Therefore, it controls The system of machine processed may not may be located remotely from machine on machine itself.

Machine 100 can be removable movement machine or the stationary machines with moveable part.In this respect, term is " removable It is dynamic " it can refer to that machine 100 or part of it are sat along linear Descartes's axis and/or along angular coordinate, circular cylindrical coordinate or spiral The movement of mark and/or their combination.This movement of machine 100 can be continuous or discrete in time.For example, machine Device 100 and/or a part of of machine 100 can undergo linear movement, angular movement or the two.This linear and angular movement can be with It is rotated about the axis or the two including accelerating, enclosing.Only as an example, not a limit, machine 100 can be excavator, paving machine, Bull-dozer, sliding loader (SSL), multi-terrain loader (MTL), compact track loader (CTL), the wheeled dress of compact Carrier aircraft (CWL), harvester, grass trimmer, drilling machine, tup, steamer, ship, locomotive, automobile, tractor or power tool 140 can be attached The machine connect.

In example shown in fig 1 and 2, machine 100 is foregoing cold milling and planing machine.Among other things, Operator's driver's cabin 120 further includes the steering system 144 for guiding machine 100 on various direction in spaces, and output dress Set 146.The size of operator's driver's cabin 120 may adapt to accommodate operator.Alternatively, machine can be controlled from base station remote Device 100, in this case, operator's driver's cabin 120 can be smaller.Steering system 144 can be steering wheel or control stick, or Person is used to guide other control mechanisms of the movement of machine 100 or part thereof.In addition, operator's driver's cabin 120 may include control Bar processed, knob, dial, display, alarm device etc., to promote the operation of machine 100.

Below hood 148, machine 100 includes that electronic controller unit 150 (is referred to as electronic control module Or " ECM "), control system of machine 152 and possible power tool control system 154.Machine 100 may include being coupled to Other components (for example, a part as chassis 156) of control system of machine 152, such as transmission system, engine, Motor, dynamical system, hydraulic system, suspension system, cooling system, fuel system, exhaust system, ground engagement tool, anchor Determine the (not shown) such as system, propulsion system, the communication system including antenna, global positioning system (GPS).

Only as an example, not a limit, power tool 140 can movably be connected to machine 100.Mechanical linkage, liquid Cylinder pressure or pneumatic linear actuator, speed changer etc. can make power tool that can axially or radially extend, expand, shrink, rotate and translate, Or it can be mobile by machine 100.For example, the height and gradient of power tool 140 can be it is variable, to adjust operation work Position of the tool 140 relative to ground 158.Once being attached to machine 100, power tool 140 can be configured to connect from machine 100 Necessary power is received, to use power tool 140 to execute various operations (for example, dig ground, break ground) in exemplary worksite.

In some embodiments of the invention, sensor 160 can be attached to the ground-penetrating radar list of machine 100 Member.The ground-penetrating radar unit can be positioned on operator's driver's cabin 120, inside or above (be not shown in Fig. 1 and 2). Alternatively or additionally, sensor 160, which can be, is located in the side of power tool 140 with before along the direction of travel T of machine 100 The ground-penetrating radar unit of side.Such sensor 160 can be arranged along direction of travel T the front of power tool 140 and/ Or below, to allow machine 100 to be moved forward or rearward and still be able to before 140 impacting object 142 of power tool Sense the presence of object 142 (for example, underground and/or ground).Sensor 160 is configurable to similar with power tool 140 Mode it is mobile, as previously mentioned, sensor 160 is allowed to track, imitate or follow movement or the position of power tool 140, To allow sensor to effectively monitor close to the ground of power tool 140.For example, sensor 160 can be directly attached to make Industry tool 140 is attached indirectly via chassis 156, or can be with power tool 140 by identical control system 152,154 Control, so that the position of sensor 160 is consistent relative to power tool 140.

As shown in figs. 1 and 2, sensor 160 can be located in machine 100 along the direction of the view perpendicular to Fig. 2 Near middle plane, at the same also along direction of travel T be located in rotating cutting drum component 112 and machine 100 crawler belt 106 it Between.Only as an example, not a limit, sensor 160 can be arranged to help to identify, detect, track and avoid contact with underground Infrared camera machine, photoacoustic sensors, ultrasonic wave or the infrasound sensor of object 142 or ground object, radar, based on laser at As sensor, wireless aerial or receiver, blue-tooth device etc. or their combination.As illustrated in figure 2, ground penetration unit The sensor 160 of form is arranged on Near Ground, serves as both transmitter and receiver 162.In some embodiments, may be used With expection, individual transmitter and receiver can be provided.

Power tool 140 could attach to machine 100, and can be scraper bowl, rotary cutting assembly 112, harvester attachment, Drill bit, tup, compacting head or any other type that could attach to any kind of machine 100 for manipulating ground 158 Tool.In this respect, machine 100 is configurable to not only can be attached only to a type of power tool 140, but also can To be attached to different types of power tool 140, and it is attached to multiple power tools simultaneously.

It continues to refer to figure 1 with 2, depending on the type of the power tool 140 utilized, machine 100 is configurable to spy Output mode due to the type of power tool 140 is operated.The output mode of machine 100 is electrically and mechanically joined by appropriate Number is specified for operating the power tool when power tool 140 is attached to machine 100.For example, being just transported to power tool For 140 output power, the output mode of scraper bowl is different from the output mode of rotating cutting drum component 112.If selection The output mode of mistake, or if hand operators do not select output mould when power tool 140 is attached to machine 100 Formula, then machine possibly can not correctly execute or not execute the task that machine 100 has been disposed.

In an aspect, power tool 140 can be fixed.In another aspect, power tool 140 can be It movably or can be mobile towards or relative to machine 100.It is, for example, possible to use another machine (not shown) to push operation Tool 140 is to match the movement of machine 100 and/or machine part.Moreover, making as will be explained in more detail later herein With control piece previously described herein or the input units such as HMI (man-machine interface) or GUI (graphic user interface), Ke Yixuan The type of power tool currently in use is selected, thus according to wherein or how relative to power tool 140 or the searching of machine 100 Underground object 142 changes power tool anti-collision system 200.

In some embodiments of the invention, control system of machine 152 may include being based on from electronic controller unit 164 The various hydraulic and electric system controlled to the output signal of control system of machine 152 by electronic controller unit 164.Machine control System 152 processed may include or may be coupled to steering system 144, which is configured to guidance, changes or stop machine 100 movement.Control system of machine 152 may include power tool control system 154 or with the power tool control system Separation, the power tool control system can be also used for guidance, stop or change power tool 140 relative to machine 100 or ground The movement in face 158.In another aspect, control system of machine 152 and/or power tool control system 154 or they one Part may be located remotely from machine 100 positioning, for example, in the base station of 100 physical separation of machine.In this case, machine control System 152 and/or power tool control system 154 processed can have direct or indirect communication with electronic controller unit 164 Link is to control machine 100 and/or power tool 140.In other embodiments, it is convenient to omit control system of machine, operation work Has the various operations communication between control system and steering system.

With reference to Fig. 4, illustrate embodiment according to the present invention has the machine 100 including electronic controller unit 164 Power tool anti-collision system 200 schematic diagram.Electronic controller unit 164 is coupled to sensor 160, control system of machine 152, other components of power tool control system 154, output device 146 and steering system 144 and machine 100 (do not show Out).

In some cases, machine 100 and/or power tool 140 can be close to the object 142 that operator can not see. When machine and/or power tool are mobile towards object 142, power tool 140 can contact object, thus to power tool or Object damages.This may need to safeguard and stop at the economic activity carried out in operating area.

In order to solve this problem, electronic controller unit 164 can be at the input-output end of electronic controller unit 164 Input signal 518 continuously is received from sensor 160 at mouth 504, and can handle the signal 518 in power tool 140 The presence of the object is detected before touching underground object 142.

In some embodiments of the invention, electronic controller unit 164 includes for example passing through internal bus (not shown) Input-output port 504, processor 506 and memory 508 coupled to each other.Electronic controller unit 164 may include attached Made component, these components do not clearly state in Fig. 4.For example, electronic controller unit 164 may include programmable logic circuit (PLC), timer/clock circuit, radiator, visual detector (for example, light emitting diode), impedance matching circuit, inside are total Line, coprocessor or monitor processor, battery and power supply unit, transceiver, wireless module, are defended power-supply controller of electric chip Embedded system on star Communications Processor Module and various integrated chips.In one embodiment, electronic controller unit 126 It can be separated with engine controller unit (not shown).In alternative embodiments, electronic controller unit 164 can be with engine Controller unit is integrated or can the communal space and process resource.

Input-output port 504 can be single port or port set.Input-output port 504 is configured to from machine Various inputs and data are transmitted and received to 100 other parts, and these inputs and data are forwarded to processor 506.? In one aspect, input-output port 504 can be two individual ports, and one is configured to the various pieces from machine 100 (for example, sensor 160 etc.) receives various input signals, and another is configured as output to signal for (for example, filling in output Set on 146) display, or for controlling machine 100 (for example, to control system of machine 152) or control power tool (for example, arriving Power tool control system 154).Alternatively, it is defeated that the function of outputting and inputting is desirably integrated into the input-being illustrated as in Fig. 4 In the single port of exit port 504.

In an aspect, processor 506 is hardware device, such as integrated circuit (IC) chip, is manufactured into implementation The various feature and function of embodiments described herein.Only as an example, not a limit, complementary metal oxide can be used Semiconductor (CMOS) manufacturing technology manufactures processor 506.In one embodiment, processor 506 may be implemented as dedicated Integrated circuit (ASIC), field programmable gate array (FPGA), system on chip (SOC) etc..In another embodiment, processor 506 may include such as encapsulating, outputting and inputting pin, radiator, circuit for signal conditioning, input unit, output device, processing The components such as device memory member, cooling system, power-supply system, these components are not shown in Fig. 4.In a specific embodiment In, processor 506 is configured to execute by executing the computer executable instructions 510 in memory 508 described in Figures 5 and 6 The various pieces of bright method.In yet another embodiment, processor 506, which can be, is for example arranged to the multiple of processing array Processor.

Memory 508 may be implemented as non-transitory computer-readable medium.Only as an example, memory 508 can be with It is the memory device based on semiconductor comprising but be not limited to random access memory (RAM), read-only memory (ROM), move State RAM, programming ROM, electrically erasable ROM (EEPROM), static state RAM, flash memory, their combination or this field one As other types of memory device known to technical staff.In one embodiment, memory 508 is directly via communication and letter Number bus is coupled to processor 506.In one embodiment, memory 508 can be resided by computer executable instructions 510 Non-transitory computer-readable storage media be made or implemented using the non-transitory computer-readable storage media.When by When processor 506 executes, computer executable instructions 510 make the feature and function of the execution various aspects of the invention of processor 506 Those of can, such as discussed about Fig. 5 to 8.This non-transitory computer-readable storage media may include that semiconductor is deposited Reservoir, optical memory, magnetic memory, monostable or bistable circuit (trigger etc.) etc. or their combination.It is this non-temporary When property computer readable storage medium does not include temporary signal.

Computer executable instructions 510 can use advanced or rudimentary compiler and programming language (example by processor 506 Such as, C++) Lai Zhihang.In one embodiment, computer executable instructions 510 can be executed by base station remote, and this be held Capable result is provided to processor 506 to control power tool vision system.In this respect, it should be appreciated that computer can be held 510 specific location inside memory 508 of row instruction is only as an example, not a limit.

In some embodiments, memory 508 includes or is coupled to database (or data structure) 512.Database 512 wraps Include the signal templates (or information about signal) for various objects (underground and/or ground).Such signal templates conduct Library and computerized model are stored in database 512.Such template may include image based on radar or will connect Table of the data link encoded in the collection of letters number to different types of object.It can be via making object and signal for example, receiving signal Matched amplitude modulation or frequency modulation provide code.More specifically, sensor can transmit activation signal, which makes underground object Identification signal is generated in response to activation signal or is reflected after by sensor transmissions from object.In other cases, ground The type of lower object can indicate that the radar signal is linked with the type that will reflect signal by the attribute of the radar signal that reflects etc. To the table matching of the attribute of object.Activation signal can also be sent to object via direct communication, induction or other methods.Example Such as, pipeline or utility lines can be applied a current to, so that generating can be by the received magnetic field of sensor 160 or electricity ?.

If detecting object 142 (may contact and/or cause the underground or the ground object that damage power tool 140), Then database may include other information, the various responses or movement such as to be taken.As shown in Fig. 2,3 and 5, when determining the phase Various variables can be considered when prestige or movement appropriate, the distance D142 of such as power tool 140 to object 142, vehicle velocity V make The mobile M and/or power tool 140 of industry tool 140, which can be moved, (such as to be increased relative to ground 158 to avoid contact object 142) speed V140.

Back to Fig. 4, processor 506 can generate the image of underground object and send the image to display (that is, Output device 146).Alternatively, output device 146 can be alarm device, flash lamp etc..Before detecting underground object 142, Period and later, processor 506 can be with these images of connected reference and information.This can be used for operator or operating system Indicate that some region is not limited until having solved the problems, such as the presence of underground object.

It should be understood that output device 146 can the input signal (packet based on the sensor 160 modified from processor 506 Including input signal 518) frame by frame continuously displays the image of underground object 142, and which is supplied to output device by processor 506 146.In an aspect, it can be provided on the display of the teleoperator of the machine 100 in remote base stations (not shown) Real-time video of the image as deployment machine 100 and the working scene of power tool 140.In other applications, output device 146 It can be located in the driver's cabin 120 of machine 100, as shown in Figure 2, operator is in the driver's cabin it can be seen that power tool 140 is how mobile relative to underground object 142 or machine 100.

Multiple machines 100 can be via such as previously mentioned base station and/or satellite etc. are interconnected and form network herein.For example, One machine can detecte underground object 142 and transmit the information about the object 142 detected to another machine 100', It enables to and/or another machine is made to suitably adjust roller 126 and/or navigate around object 142.In some cases Under, the central control system of base station can be controlled and/or be navigated about roller based on the information about the object 142 detected Another machine of direct command 100'.

As illustrated in fig. 5, in some embodiments, sensor 160 can use the form of sensor array 300, should Sensor array is a part of sensor strip 302, which includes along rotating cutting drum component 112 or other works Multiple sensors 160 of the axial width W arrangement of industry tool 140.For example, for very wide for example, axial width W is 80 inches To the rotating cutting drum component 112 of 88 inches (or 2.0 meters to 2.2 meters), the width W along power tool 140 can be provided 15 sensors 160 or antenna 161 being evenly spaced apart.Sensor array 300 can limit sensor array column width W300 can be greater than or equal to the width W of power tool 140.It can be provided at three digital signals on sensor strip 302 It manages device 304 (DSP), handles by five 161 received signals of antenna.In other embodiments, digital signal processor 304 can To analyze the signal from more or less antennas 161, and the power tool 140 with narrower width W may be needed Less antenna 161.In some embodiments, sensor 160 is usually by direction perpendicular to the direction on ground 158.However, it is possible to The angle is adjusted in all cases.For example, ground 158 may not be horizontal in some applications.In this case, may be used To adjust sensor strip 302 and vertical direction angulation.The bolt that this adjustment can be arranged by using flute profile rotates Sensor strip 302 carries out manually to adjust rodmeter 302.In other cases, motor can be used in sensor strip 302 Or the hydraulic cylinder controlled by electronic controller unit 164 is rotated or is adjusted in other ways.In this case, sensor strip 302 can detect various situations (for example, it is horizontal for detecting ground 158 not) Lai Zidong by electronic controller unit 164 Adjustment.

In any application, the quantity of sensor 160 used in adjusting or DSP304 are in order to provide desired resolution Rate, sensitivity and accuracy are to prevent any part along the width W of power tool 140 from contacting any underground object 142. DSP is communicated with the processor 506 of electronic controller unit 164, or can serve as the processing of electronic controller unit 164 A part of device 500.Similarly, DSP is considered a part for the electronic controller unit 164 being in communication with. For this purpose, DSP can be configured with CANBUS chip 306 (Controller Area Network BUS chip), allow they effectively with machine The electronic controller unit 126 of device 100 is communicated.It is contemplated that in various embodiments of the present invention can be using number Or guinea pig system.

Fig. 5 shows the various spatial relationships between power tool 140 and sensor array 300.From sensor array 300 Distance D300 to power tool 140 can according to need or it is expected and change, this depend on such as machine 100 speed V and For making power tool 140 far from various factors such as the mobile speed V140 of object 142.For example, the speed V of machine 100 is faster And the speed V140 for removing power tool 140 is slower, and distance D300 may need bigger.On the other hand, machine 100 Maximum speed V it is slower and maximum speed V140 is faster, distance D300 may need to it is smaller to avoid collision.When operation work Tool 140 is when being rotating cutting drum component 112, the distance between sensor 160 D160 can be expressed as cutter head 128 it Between distance P function.For example, D160 can be at least mutually same with the half of P or P, so that providing necessary resolution ratio to help Helping prevents cutter head 128 from contacting object 142.As mentioned previously, anti-collision system 200 can be used for as needed or expectation avoids Contact the object above and below ground.In addition, sensor 160 can be also used for detection power tool 140 relative to ground Position and when sensor 160 as discussed previously detect by tracking or while imitating upright position of the power tool 140 relative to ground Above the ground or the object of lower section.

Industrial applicibility

In practice, according to the power tool anti-collision system for any embodiment for being described herein, showing or discussing, electronics control Device unit processed or method can sell under after market or OEM (original equipment manufacturer) background, buy, manufacture, remanufacturing, Repacking, assembling obtain in other ways.Similarly, when machine is new or when machine is with any one in these embodiments When a repacking, it can provide using according to this power tool anti-collision system of any embodiment described herein, electronic controller The machine of unit or method.

Fig. 7 is also observed simultaneously referring back to Fig. 4, and the existing power tool for monitoring underground object can be provided as follows Anti-collision system 200.Power tool vision system 200 may include sensor 160 and the electronic controller for being coupled to sensor 160 Unit 164, wherein electronic controller unit 164 is configured to that sensor 160 is made to transmit signal with first time interval, and handles By receiver 162 with the second time interval received signal.For example, can issue or transmit radar letter with first time interval Number, then the reflection signal returned from underground object 142 can be received with the second time interval.Moreover, electronic controller unit 164 It is configured to change the movement of power tool 140 or machine 100 after processing is by 162 received signal of receiver.Change operation The movement of tool 140 may include increasing power tool 140, making the rotation of power tool 140 stops or other operations are mobile etc.. Can by make one or more legs of machine 100 via hydraulic cylinder 108 increase or make power tool 140 itself increase come Increase power tool 140.Similarly, the movement for changing machine 100 may include the mobile stopping for making machine 100, change machine 100 travelling route (or direction) etc..Similarly, sensor strip 302 can be attached to the chassis 156 of machine 100, and via Cylinder 108 moves up and down in a similar manner.In some embodiments, can be attached to can be relative to machine 100 for sensor strip 302 The mobile tread plate in chassis 156.If tread plate is in floating mode, sensor strip 302 can be independently of hydraulic cylinder 108 Any movement and move.In other embodiments, tread plate is not at floating mode and is always kept in a fixed state.

In many examples, electronic controller unit 164 can be further configured to storage have can be by sensor 160 issue or by the frequency spectrum of 162 received signal of receiver or the database 512 of range (referring to frame 702).Electronic controller list Member 164 can be further configured to determine whether there is underground object 142 based on by 162 received signal template of receiver (referring to frame 706).In a particular embodiment, electronic controller unit 164 is further configured to storage for various underground objects The database 512 of 142 received signal template, and the received signal of underground object 142 and one or more are received Signal templates be compared (referring to frame 704).

In some embodiments, electronic controller unit 164 is further configured to change if detecting underground object 142 Become power tool 140 relative to machine 100 or the position on ground 158.For example, power tool 140 can be increased, so that operation work Tool 140 will not contact underground object 142.Power tool vision system 200 may further include and electronic controller unit 164 The output device 132 (referring to fig. 4) communicated, and electronic control unit 164 can be further configured under explicitly The output device 146 of the image of object 142 sends signal.

In many examples, electronic controller unit 164 is further configured to indicate examining via output device 146 The type of the underground object 142 of survey.

In some embodiments, power tool vision system 200 may further include with electronic controller unit 164 into The input unit 166 of row communication, and input unit 166 is configurable to send signal to electronic controller unit 164 with shadow Ring the function of power tool anti-collision system 200.This will be more detailed about the GUI that can be used for input or selection function mode later Carefully describe.

In certain embodiments, as understood in observation Fig. 4 and Fig. 8, electronic controller unit 164 may include memory 508, which includes the computer executable instructions 510 of underground object 142 for identification；And processor 506, the processing Device is coupled to memory 508 and is configured to execute computer executable instructions 510, and computer executable instructions 510 exist Make processor 506 when being executed by processor 506: the existing signal of sensing instruction underground object 142, and will control signal hair Be sent to control system of machine 152 or power tool control system 154 with change the movement of machine 100 or power tool 140 (referring to Frame 800 in Fig. 8).In many cases, the signal sensed is the ground-penetrating radar signal of reflection, and controls signal It is configured to make the mobile stopping of machine 100, perhaps makes the mobile stopping of power tool 140 or changes the traveling side of machine 100 To T, or change position of the power tool 140 relative to ground 158 (referring to frame 802).

Focusing on Fig. 5 and Fig. 6, embodiment according to the present invention for monitoring underground object 142 or ground object The method 600 of existing power tool anti-collision system 200 can be described as follows.Method 800 may include from positioned at power tool The sensor 160 in 140 fronts is sent signal (step 602), is believed using same sensor 160 or the individually monitoring of receiver 162 Number (step 604), and signal (step 606) is received in response to the signal by sensor transmissions.In some embodiments, one Denier receives signal from underground object 142, so that it may analysis from 142 received signal of underground object with determination it is appropriate movement or Response.

In some embodiments, sending signal includes sending ground-penetrating radar wave.In this case, received signal It can be reflection signal.

In other embodiments, when using ball is marked etc., sending signal makes underground object 142 send response letter Number.

If receiving signal, this method may further include change power tool 140 movement (step 608) or Movement (the step 610) of person's change machine 100.It such as can be automatic when executing method 600 using electronic controller unit 164 The movement for changing power tool 140 is executed, and such as can also be with when executing method 600 using electronic controller unit 164 It is automatic to execute the movement for changing machine 100.In some cases, change power tool 140 or the movement of machine 100 can be It is manually completed after sending alarm to operator.It may further be expected, in other embodiments, can be used except electronics control Other systems except device unit 164 processed execute method 600.

The movement for changing machine 100 may include stopping machine 100 or around the steering of underground object 142 or guidance machine 100.The movement for changing power tool 140 may include making the mobile stopping or change 140 phase of power tool of power tool 140 For the position on ground 158.It can be based on power tool 140, the movement of machine 100, the distance based on machine 100 to object D142 and speed V can handle signal and can take movement appropriate.Movement appropriate may include keeping rotor 112 operating while change machine 100 direction, keep rotor 112 operate while make machine 100 slow down or stop, Make the deceleration of machine 100 while jack 112, stop rotor 112 etc..And method 600 may include by distance D142 with Threshold value is compared and based on the movement that distance D142 and threshold value are compared to change power tool 140 or machine 100. In this respect, in some embodiments, the rate of deceleration can be determined as threshold value deceleration value by electronic controller unit 164, and Change the movement of machine and/or power tool 140.

Moreover, underground object 142 can be recorded in by electronic controller unit 164 relative to the position of power tool 140 In memory 508 (historical record).When detecting underground object 142, electronic controller unit 164 can calculate underground object 142 depth and/or distance D142 of the direction of travel T from underground object 142 to rotor along machine 100.Because of machine 100 Usually will be mobile with 100 meters of speed per minute, so sensor strip 302 is located at the distance in front of 140 rear portion of power tool D300 meter can be differed from one to two.Moreover, sensor strip 302 can be positioned at 158 one to two feet of top of ground.These Size allows required sensitivity and reaction time, to allow ECU164 and machine 100 to adjust power tool 140 and/or machine 100 movement.In numerous applications, it can calculate along direction of travel T from underground object 142 to the distance of power tool 140 Then the distance is used to calculate to minimize the deceleration or other movements and/or the work that avoid collision required machine 100 by D142 The rate travel of industry tool 140.This makes the part of machine 100 or power tool 140 not for the safety of enhancing system 200 It may be useful for easily being hit by other objects etc..

Fig. 9 to Figure 15, which is depicted, can be used together to allow operator's control and make with power tool anti-collision system 200 With the GUI of the system.Fig. 9 is observed, the GUI400 that the snapshot shown by the screen with touch screen interface ability indicates is included in Top view part 402 on the right side of GUI400, wherein 15 sensor boxes 404 being shown side by side indicate the sensor array of Fig. 5 300, it is repeated along the front and back direction of travel T of rotating cutting drum component 406, so that when user can see in circumgyration incision The front or behind of drum assembly 406 detects underground object 142.More specifically, can indicate along direction of travel T away from From, and can axial position with detection object 142 relative to cutting-cylinder component 406.

Equally, side elevation section 408 shows the left part in GUI400, and instruction underground object is rolled relative to circumgyration incision The depth of cartridge module 406.More specifically, top row sensor box 404 indicates depth of cut, and bottom row's sensor box instruction cutting is deep Rotating cutting drum component below spending 406 would be impossible to the depth reached.Sensor shape can be provided above side view part 408 State statistical graph 410, can be color coded the green that whether works normally with instruction system (in the statistical graph can be with Instruction system is working).It additionally provides two sliding buttons and makes user can should be worked with decision systems with what mode. Ceiling button 412 slides to the right, and instruction system is in auto stop mode, so that machine 100 or power tool 140 are easy to automatic Change their movement to collide to avoid with underground object 142.Bottom button 414 is also slided to the right, so that machine 100 or system 200 may will be collided using vision, sound or other prompts to alert user.

In Figure 10, the axial direction of the underground object 142 detected by system 200 and depth location are by the sensor box filled 404 show.Now, user can notice rotating cutting drum component 406 close to underground object by observing GUI400 142 still may not contact object 142, because they are too deep without causing this collision.

In Figure 11, bottom button 414 is slided to the right, therefore following auto-alarm-signal keying device: circumgyration incision will be issued to operator Drum assembly 406 will likely contact underground object, this is shown by the sensor box 404 filled (can be with red filling to indicate There are problems).On the other hand, if can not collide, such as when they are too deep as shown, then sensor box 404' can To be filled with grey intersecting hachure.

Other than bottom button 414 is slided to the left, Figure 12 shows situation same as figure 11, therefore will not be to operation Member issues following auto-alarm-signal keying device: rotating cutting drum component 406 may contact underground object.

Figure 13 is shown when system is in the operation mode of Figure 11 before machine 100 and rotating cutting drum component 406 Into sufficiently close to after underground object 142 makes system 200 automatically generate warning or alarm 416 there is a situation where.Warning is alert The visual aspects of report 416 can be yellow at this time, because collision not yet occurs.

The traveling that Figure 14 shows in Figure 13 in machine 100 makes rotating cutting drum component 406 closer to underground object 142 When (instruction will collide) there is a situation where.The visual aspects of warning or alarm 416 can be red.Machine 100 and/or Rotating cutting drum component 406 can have the movement of change.For example, machine 100 and/or rotating cutting drum component 406 can be with Stop to avoid collision.

Alternatively, as shown in Figure 15, rotating cutting drum component 406 can be increased relative to ground 158, be represented as Jump 418, so that rotating cutting drum component 406 is avoided to collide with underground object 142.With with rotating cutting drum component The sensor 160 that 406 similar modes are attached to machine 100 can also increase as shown, cause sensor 160 beyond ground 158 range.Therefore, sensor states statistical graph 410 can be color coded as yellow (sensor fault) to indicate to pass Sensor 160 is not properly positioned that other underground objects are effectively detected or are otherwise not normally functioning (in many embodiments In be self diagnosis).In other words, the movement for changing power tool 140 causes sensor 160 to be positioned to too far and be unable to detectable substance Body 142 and operator is warned such case.

Other screens can have the arrow for increaseing or decreasing system gain, can customize.

It should be understood that the description of front provides the example of disclosed component and technology.Have been presented for detection on the ground With the example of both underground objects.However, it is contemplated that before other embodiments of the present invention can be different from detail State example.All couples of present invention or its exemplary reference are intended to refer to that particular example is discussed and is not intended to imply that in the point More generally any limitation on the scope of the present invention.Difference about certain features is intended to refer to lack with all language belittled It to the preference of these features, but is not to be excluded from the scope of the present invention these completely, unless otherwise directed.

It is intended only to serve as referring to the letter for falling into each independent values in range respectively in the narration of this paper logarithm range Slightly method, except as otherwise stated, and each independent values are comprised in specification, as describing respectively herein.

It will be apparent to one skilled in the art that without departing from the scope or spirit of the invention, it can It carry out various modifications and changes with the embodiment to equipment as discussed herein and assemble method.In view of disclosed herein each The specification and practice, other embodiments of the present invention of kind embodiment are apparent to those skilled in the art 's.For example, the structure and function of some equipment can be different from the structure and function having been described, and it can be omitted and appoint Where certain steps of method, to execute with the order in a different order that has specifically mentioned or be performed simultaneously in some cases Or certain steps of any method are executed in sub-step.Furthermore it is possible to some aspects or feature to various embodiments into Row variation is modified to create other embodiment and feature, and the feature of various embodiments and aspect can be added or replace The other feature or aspect for being changed to other embodiments are in order to provide further embodiment.

Therefore, the present invention include the theme enumerated in the allowed the appended claims of applicable law all modifications and Equivalent.In addition, any combination of above-mentioned component part in all feasible modifications is included in the present invention, unless at this Text is otherwise noted or clearly contradicted by context.

Claims (10)

1. a kind of method for avoiding object, which comprises

Signal is transmitted using the sensor of machine,

The sensor is located in front of the power tool of the machine and along the traveling of the power tool or the machine Direction,

The machine is advanced on the ground along path, and the power tool is moving；

The sensor is directed toward the ground；

In response to using the signal of the sensor transmissions and monitoring signal,

The signal is monitored using the sensor or the receiver separated with the sensor；

One or more of described signal is handled to detect the object along the path；

The distance between the object and described power tool are compared with threshold value；And

At least one of below:

Based on the distance is compared to change the movement of the power tool with the threshold value, or

Based on the distance is compared to change the movement of the machine with the threshold value.

2. according to the method described in claim 1, wherein the object is underground object, and

Wherein monitoring the signal includes receiving in response to using the signal of the sensor transmissions from the underground object The signal of body reflection.

3. according to the method described in claim 1, wherein changing the movement of the power tool or changing the machine The movement be one or more of based on following variable:

Distance of the machine to the object；

The rate of deceleration of the machine；Or

The rate of deceleration of the power tool.

4. according to the method described in claim 1, wherein automatic execute described in the movement for changing the machine or change The movement of power tool.

5. according to the method described in claim 1, the movement for wherein changing the power tool includes making the operation work The mobile stopping of tool changes the position of the power tool relative to the ground,

And the movement for changing the machine includes making the mobile stopping of the machine.

6. according to the method described in claim 1, the movement for wherein changing the power tool positions the sensor It obtains too far and can not detect object, and

Wherein the method further includes so that the alarm for the position for indicating the sensor is supplied to operator.

7. according to the method described in claim 1, wherein transmitting the signal includes transmission ground-penetrating radar wave.

8. according to the method described in claim 1, wherein the object is underground object, and

Wherein the method further includes receiving reflection signal from the underground object based on the signal is sent.

9. according to the method described in claim 8, further comprising being analyzed using one or more signal templates from underground object The reflection signal of reflection receivable determines the appropriate movement at least one of the machine or power tool.

10. a kind of power tool anti-collision system for the machine with power tool, the system comprises:

Sensor；

Receiver；And

Electronic controller unit is coupled to the sensor and the receiver, wherein the electronic controller unit configures Are as follows:

The sensor is set to transmit signal with first time interval；

Processing is by the receiver with the second time interval received signal；And

Processing by the received signal of the receiver after change the power tool the movement or the machine The movement.